A New High-Precision SCARA Design and Experiment

Abstract

This paper first described the composition of the SCARA robot, which contains the mechanical structures, drive systems and control systems. According to its mechanical structure, the mathematical model for SCARA is established by the D-H method, and then forward kinematics and inverse kinematics is deduced. Secondly, linear and circular interpolation method is researched in the Cartesian space, cubic polynomial interpolation and cubic spline interpolation method is researched in the joint space. Work in image-grasping, robot feeding and unloading is made by using the designed SCARA in electronic factory. Then the good results are got in such work.